Autonomous and assisted docking systems and methods

Abstract

Techniques are disclosed for systems and methods to provide docking assist for mobile structures. A docking assist system includes a logic device, one or more sensors, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other modules of a mobile structure. The logic device is adapted to receive docking assist parameters from a user interface for the mobile structure and perimeter sensor data from a perimeter ranging system mounted to the mobile structure. The logic device determines docking assist control signals based, at least in part, on the docking assist parameters and perimeter sensor data, and it then provides the docking assist control signals to a navigation control system for the mobile structure. Control signals may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

1 . (canceled) 
     
     
         2 . A system comprising:
 a logic device configured to communicate with a user interface mounted on a mobile structure and to provide one or more control signals to a navigation control system for the mobile structure, wherein the logic device is configured to:   receive user interface demand signals from the user interface;   determine the one or more control signals based, at least in part, on the user interface demand signals; and   provide the one or more control signals to the navigation control system;   wherein the logic device is switchable between:
 (A) interpreting the user interface demand signals as a thrust demand in determining the one or more control signals; and 
 (B) interpreting the user interface demand signals as a velocity demand in determining the one or more control signals. 
   
     
     
         3 . The system of  claim 2 , wherein the user interface comprises a joystick with a joystick controller switching between being a thrust controller and being a velocity controller by the logic device switching between (A) and (B) respectively. 
     
     
         4 . The system of  claim 2 , comprising a manual switch configured to switch the logic device between (A) and (B). 
     
     
         5 . The system of  claim 2 , wherein the logic device comprises:
 first logic configured to generate thrust demand from the velocity demand in (B); and   second logic configured to receive thrust demand from the first logic in (B), and from the user interface demand signals in (A), and determine the one or more control signals based at least in part on the received thrust demand.   
     
     
         6 . The system of  claim 5 , wherein the logic device is configured to provide the thrust demand generated by the first logic to the user interface for display. 
     
     
         7 . The system of  claim 6 , wherein the logic device is configured to provide the thrust demand generated by the first logic to the user interface for displaying the thrust demand generated by the first logic relative to a maximum maneuvering capability of the navigation control system. 
     
     
         8 . The system of  claim 2 , wherein the logic device is configured to warn the user before external disturbance overwhelm a maneuvering capability of the navigation control system. 
     
     
         9 . The system of  claim 5 , wherein the second logic is configured to receive data on wind and/or water current disturbances and provide the one or more control signals to the navigation control system. 
     
     
         10 . The system of  claim 2 , wherein the logic device is configured to:
 determine wind and/or water current disturbances affecting navigation of the mobile structure; and   determine the one or more control signals based, at least in part, on the determined wind and/or water current disturbances, wherein the one or more control signals are configured to cause the navigation control system to compensate for the determined wind and/or water current disturbances while maneuvering the mobile structure according to the received user interface demand signals;   wherein determining the wind and/or water current disturbances comprises:
 placing the mobile structure in a hover mode where the target linear and/or angular velocities are zero; and 
 using a thrust provided by the system in hover mode as an indication of the wind and/or water current disturbances. 
   
     
     
         11 . A method comprising using the system of  claim 2 , wherein the method comprises:
 switching the logic device between (A) and (B); and   providing the one or more control signals to the navigation control system in (A) and in (B).   
     
     
         12 . The method of  claim 11 , wherein the user interface comprises a joystick with a joystick controller switching between being a thrust controller and being a velocity controller by the logic device switching between (A) and (B) respectively. 
     
     
         13 . The method of  claim 11 , comprising switching the logic device between (A) and (B) by a manual switch. 
     
     
         14 . The method of  claim 11 , wherein the logic device comprises:
 first logic generating thrust demand from the velocity demand in (B); and   second logic receiving thrust demand from the first logic in (B), and from the user interface demand signals in (A), and determining the one or more control signals based at least in part on the received thrust demand.   
     
     
         15 . The method of  claim 14 , further comprising displaying on the user interface the thrust demand generated by the first logic. 
     
     
         16 . The method of  claim 15 , comprising displaying the thrust demand generated by the first logic relative to a maximum maneuvering capability of the navigation control system. 
     
     
         17 . The method of  claim 11 , further comprising generating by the logic device a warning to the user before external disturbance overwhelm a maneuvering capability of the navigation control system. 
     
     
         18 . The method of  claim 14 , further comprising:
 receiving data by the second logic on wind and/or water current disturbances; and   providing, by the second logic, the one or more control signals to the navigation control system.   
     
     
         19 . The method of  claim 11 , further comprising determining by the logic device wind and/or water current disturbances affecting navigation of the mobile structure; and
 determining the one or more control signals based, at least in part, on the determined wind and/or water current disturbances, wherein the one or more control signals are configured to cause the navigation control system to compensate for the determined wind and/or water current disturbances while maneuvering the mobile structure according to the received user interface demand signals;   wherein the determining wind and/or water current disturbances comprises:
 placing the system in a hover mode where the target linear and/or angular velocities are zero; and 
 using a thrust provided by the system in hover mode as an indication of the wind and/or water current disturbances. 
   
     
     
         20 . A system comprising:
 a logic device configured to communicate with a user interface mounted on a mobile structure and provide one or more control signals to a navigation control system for the mobile structure, wherein the logic device is configured to:   receive user interface demand signals from the user interface;   determine the one or more control signals based, at least in part, on the user interface demand signals; and   provide the one or more control signals to the navigation control system;   wherein determining the one or more control signals comprises:
 determining wind and/or water current disturbances affecting navigation of the mobile structure; and 
 determining the one or more control signals based, at least in part, on the determined wind and/or water current disturbances, wherein the one or more control signals are configured to cause the navigation control system to compensate for the determined wind and/or water current disturbances while maneuvering the mobile structure according to the received user interface demand signals; 
   wherein determining the wind and/or water current disturbances comprises:
 placing the mobile structure in a hover mode where the target linear and/or angular velocities are zero; and 
 using a thrust provided by the system in hover mode as an indication of the wind and/or water current disturbances. 
   
     
     
         21 . A method for using the system of  claim 20 , the method comprising:
 placing the system in a hover mode where the target linear and/or angular velocities are zero; and   using a thrust provided by the system in hover mode as an indication of the wind and/or water current disturbances.